System and method of managing a projectile module on a flying device

ABSTRACT

A flying vehicle is disclosed with a projectile module or component that contains a projectile for projecting at another flying device. The flying vehicle receives an identification of a target flying device and applies a projectile model which generates a determination that indicates whether a projectile, if fired from the projectile component, the projectile will hit the target flying device. The projectile model taking into account one or more of a wind modeling in an area around the flying vehicle based on an inference of wind due to a tilt of the flying vehicle, a projected path of the target device based on its identification and a drag on the projectile as it deploys from the projectile component. When the determination indicates that the projectile will hit the targeted device according to a threshold value, the flying vehicle fires the projectile at the targeted flying device.

PRIORITY INFORMATION

The present application is a continuation of U.S. patent applicationSer. No. 16/176,881, filed Oct. 31, 2018, the content of which isincluded herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to a targeting and projectile deploymentsystem used on a flying device to immobilize other flying devices. Thesystem applies a projectile model that predicts whether the projectilewill hit a target device and fires the projectile based on the result ofthe projectile model.

BACKGROUND

Although drone technology has been around for half a century, highproduction costs and older technology limited owners of large and bulkydrones to include mostly that of military or special interest groups.Advancements in drone technology reduced the price and size of drones,eventually making them more readily available to individual consumers.With an increase in consumer drones, problems began to surface regardingprivacy, trespassing and security issues.

As drones are able to fly at high altitudes, it is extremely difficultto remove an unwanted drone from a designated property. Also, manydrones are able to carry a payload, which raises security issuesconcerning hostile applications such as carrying and deploying anexplosive or harmful chemical agent. Not being able to remove oreliminate potentially threatening drones can be a major problem forgovernments, event planners, or any land owner.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to describe the manner in which the above-recited and otheradvantages and features of the disclosure can be obtained, a moreparticular description of the principles briefly described above will berendered by reference to specific embodiments thereof which areillustrated in the appended drawings. Understanding that these drawingsdepict only exemplary embodiments of the disclosure and are nottherefore to be considered to be limiting of its scope, the principlesherein are described and explained with additional specificity anddetail through the use of the accompanying drawings in which:

FIG. 1 illustrates an example system configuration;

FIG. 2 illustrates an example flying vehicle having a projectile module;

FIG. 3A illustrates an example projectile module attached to a gun base;

FIG. 3B illustrates an expanded view of the projectile module and gunbase;

FIG. 4 illustrates an example projectile;

FIG. 5 illustrates an example weight associated with the projectile;

FIG. 6 illustrates a jig used to pack the net into the projectilemodule;

FIG. 7 illustrates the detachable nature of the projectile module;

FIG. 8 illustrates the use of a compressed gas in the projectile module;

FIG. 9 illustrates a method embodiment;

FIG. 10 illustrates another method embodiment;

FIG. 11 illustrates a taser embodiment; and

FIG. 12 illustrates another method embodiment.

DESCRIPTION OF EXAMPLE EMBODIMENTS BRIEF INTRODUCTION

Disclosed are a flying vehicle, system and method associated withmanaging a projectile deployment component. The present disclosureintroduces a number of technologies associated with the projectilemodule configured on a flying vehicle, such as a drone. The technologiesimprove the reliability and the repeatability of utilizing a projectilefrom a drone to capture or immobilize another dangerous drone. Some ofthe improvements described herein represent innovations necessary toachieve reliable and repeatable operation over typical commercial guns.For example, when the projectile is a net, the net size, gas pressure,and release mechanisms of typical off-the-shelf net guns were notsatisfactory for a drone application. Features that are described hereinthat represent improvements include a configuration and O-ring designassociated with weights attached to corners of a net, an approach towrapping the net and preparing the net for the projectile module, thestring material, replaceable head cartridges, a gun configuration andother approaches to net optimization for capturing drones, and so forth.These various improvements will be addressed in this disclosure and anycombination of individual features can be combined and claimed invarious embodiments.

For example, utilizing the proper size of the net, a proper hole sizefor a deployment structure to hold the weights, and string material canresult in low drag as the net is deployed and expands. One aspect ofthis disclosure involves a projectile model which models thecharacteristics of the net as it flies through the air with variousenvironmental conditions such as air density, altitude, wind direction,and so forth. Accordingly, seeking to optimize the physicalcharacteristics of the net is also a factor in how a net model would bedeveloped and used in an analysis of current conditions when determiningwhether a drone should fire the projectile at a target. Various computermodels have been developed to take into account the number of differentfactors in an analysis to determine whether and when to deploy aprojectile to properly capture a drone.

A drone having a projectile module can follow a target device and can beconstantly modeling what would happen if the projectile were fired at agiven time. The modeling predicts the path the projectile, and includesa prediction of the movement in the future of the target device. Using acombination of projective path modeling, and the prediction of thetarget device path, the system will make timing determinations on whento fire the projectile and at what angle or vector direction.

An example method related to determining when to deploy the projectileincludes receiving, at a flying vehicle, information associated with atarget flying device, wherein the flying vehicle includes a projectilemodule containing a projectile. The method includes applying aprojectile model which generates a probability value that theprojectile, if fired from the projectile module, will hit the targetflying device, the projectile model taking into account a wind modelingin an area around the flying vehicle based on an inference of wind dueto a tilt of the flying vehicle, the wind modeling also considering oneor more (1) how the projectile travels through air in which the air hasa particular air density, (2) how the projectile travels through the airat a projectile deployment velocity and (3) a drag on the projectile asit travels through the air. When the probability value indicates thatthe projectile will hit the targeted device according to a threshold,the method includes firing the projectile at the target flying device.The projectile can include one or more of a net, a streamer, a pellet, abean bag or an explosive. The projectile module can be attached to theflying vehicle in a fixed position or can have an adjustment componentthat can enable the projectile module to change its orientation relativeto the flying vehicle. For example, the gun can be configured on agimbal which enables controlled movement and pointing of the gun whileattached to a drone.

The projectile model further can consider one or more of a flyingvehicle position, a flying vehicle pitch, a flying vehicle yaw, a flyingvehicle velocity, a target flying device manufactured specification, atarget flying device current position, a target flying device velocity,a predicted path of the target flying device, and a wind velocity. Two,three or four or more of these features can also be included in theevaluation.

The projectile model can also evaluate an orientation of the flyingvehicle or based on an orientation of the projectile module. In oneaspect, the method can include applying the projectile model to generatea new orientation of the flying vehicle. The method can also includeadjusting the orientation of the flying vehicle to the new orientationof the flying vehicle before firing the projectile from the projectilemodule. The method also can include reapplying the projectile modelafter adjusting the orientation of the flying vehicle.

In another aspect or example of the concepts disclosed herein, a methodcan include receiving, at a flying vehicle, an identification of atarget flying device, wherein the flying vehicle comprises a projectilemodule containing a projectile and applying a projectile model whichgenerates a determination which indicates whether, if fired from theprojectile module, the projectile will hit the target flying device, theprojectile model taking into account a wind modeling in an area aroundthe flying vehicle based on an inference of wind due to a tilt of theflying vehicle. The approach takes into account drag and thrust on themotor and the equations can determine or infer the wind direction andspeed based on the angle of the tilt. The wind can also be determinedwhile the flying vehicle is moving, but in some cases not while it isturning. The system can also determine the wind speed as well as adirection of the wind based on evaluating the angle of the tilt andaccount for the drag and thrust of the motor as well. When thedetermination indicates that the projectile will hit the targeted deviceaccording to a threshold value, the method includes firing theprojectile from the projectile module at the targeted flying device.

Another aspect includes a flying vehicle having a processor, aprojectile component and a computer-readable storage medium storinginstructions which, when executed by the processor, cause the processorto perform operations including receiving an identification of a targetflying device and applying a projectile model which generates adetermination which indicates whether a projectile, if fired from theprojectile component, will hit the target flying device. The projectilemodel takes into account a wind modeling in an area around the flyingvehicle based on an inference of wind due to a tilt of the flyingvehicle. When the determination indicates that the projectile will hitthe targeted device according to a threshold value, firing theprojectile at the targeted flying device.

Another example includes the gun component and replaceable headcartridge as a combined system. The system in this regard includes a guncomponent configured to be removably and electro-mechanically attachedto an object (such as a drone) in which the gun component has anattachment arm with a pin at a first end and an engagement flange at asecond end. The gun component includes a cylindrical gas valve, a safetycomponent configured on an exterior surface of the cylindrical gasvalve, the safety component having an indented surface on a portion ofthe safety component, the indented surface complimentary to theengagement flange at the second end of the attachment arm, a splittercomponent configured adjacent to the cylindrical gas valve, the splittercomponent having an output opening for gas flow, typically through aplurality of openings, and an accumulation reservoir that communicates agas from the accumulation reservoir to the cylindrical gas valve.

The system includes a removable projectile head cartridge configuredwith an engagement member for engaging with the attachment arm and thepin, wherein the removable projectile head cartridge includes a channel(open on both ends) that receives a weight at a first end of the channelsuch that the weight can be positioned for firing at a second end of thechannel. A string connects the weight to a projectile contained withinthe removable projectile head cartridge. Upon attachment of theremovable projectile head cartridge to the gun component, a channelopening (or a plurality of channel openings) in the channel aligns withthe output opening(s) in the splitter component such that upon firingvia an electrical signal from the object, gas is communicated from theaccumulation reservoir, to the cylindrical gas valve, to the splittercomponent, through the output opening in the splitter component and tothe channel opening to project the weight out the channel, causing theweight to pull the projectile out of the removable projectile headcartridge.

The safety component further includes a first arm and a second arm eachattached to the portion of the safety component and a second portion ofthe safety component connected to the first arm and the second arm, thesecond portion having a safety flange positioned to block movement of anattachment component of the gun component in a first position of thesafety component and an opening on the second portion for enabling themovement of the attachment component of the gun component in a secondposition.

The first position can coincide with the removable projectile headcartridge not being locked into engagement with the gun component. Inone aspect, the first position coincides with the engagement flange notbeing aligned with the indented surface on the portion of the safetycomponent. The second position can coincide with the removableprojectile head cartridge being locked into engagement with the guncomponent. The second position can coincide with the engagement flangebeing aligned with the indented surface of the portion of the safetycomponent.

The gun component further can include a first fixed member for engagingwith a first receiving structure of the object and a second moveablemember for engaging with a second receiving structure of the object,wherein the second moveable member is enabled to engage with the secondreceiving structure of the object according to a position of the safetycomponent.

The position of the safety component can be variable as the safetycomponent is rotated around the cylindrical gas valve. The removableprojectile head cartridge can have an opening that is one of rectangularshaped, square shaped, or circular shaped. The projectile can include anet having four corners and wherein a respective string connects eachrespective corner to a respective weight of four weights.

The removable projectile head cartridge can include four channels, eachreceiving the respective weight of the four weights. In one aspect, thechannel has a rifled configuration, and wherein the weight includes aswivel such that at least a portion of the weight can twist independentof a connection component to which the string is tied.

Another aspect of this disclosure can include claims directed to theremovable head cartridge. An example removable projectile head cartridgeincludes a cup structure having a channel configured in a wall of thecup structure, the channel having a first opening at a lip of the cupstructure and a second opening at a base of the cup structure, wherein aweight having a string attached is inserted into the first opening atthe lip of the cup structure for movement to the second opening at thebase of the cup structure in preparation for firing, wherein the stringis also attached to a projectile held within the cup structure. Anengagement member can be configured on an outer surface of the cupstructure for engaging with a gun component via an attachment arm with apin, the attachment arm and pin being configured on the gun component,wherein upon attachment of the removable projectile head cartridge tothe gun component, the second opening at the base of the cup structurealigns with an output opening in a splitter component of the guncomponent such that upon firing via a signal from an electrical signalfrom an object to which the gun component is attached, gas iscommunicated from an accumulation reservoir on the gun component, to ancylindrical gas valve on the gun component, to a splitter component onthe gun component, through the output opening in the splitter componentand to the second opening at the base of the cup structure to projectthe weight out the channel, causing the weight to pull the projectileout of the removable projectile head cartridge.

The cup structure can include 2, 3, 4 or more channels, each respectivechannel receiving a respective weight. The channel can be rifled and theweight in this scenario can include a swivel that causes a portion ofthe weight to twist independent of a connection component of the weightto which the string is attached. A cover can protect the projectilewithin the cup structure, wherein the cover breaks upon firing theprojectile. The weight can have a first end that is rounded and a secondend having a sharp edge. In one aspect, a string attachment component isconnected to the second end of the weight. The first end of the weightthat is rounded can be inserted into the channel in preparation forfiring. The removable projectile head cartridge can be made by a 3Dprinter or through injection molding.

DETAILED DESCRIPTION

The present disclosure relates to a projectile system for configurationon drone and in one example, contains a net the can be deployed forcapturing an enemy drone. The net can be prepared and have a respectiveweight attached to each corner. Each weight can have an O-ring and beconfigured in a slot such that utilizing air pressure from a canister,and based on a modeling of the projectile and the environment around theenemy drone, a system operating on the drone will determine when todeploy the net to capture the enemy drone. The various details of thissystem are discussed herein.

As the system disclosed herein requires computing components, a generalexample computing system shall be disclosed in FIG. 1, which can providesome basic hardware components making up a server, node or othercomputer system. FIG. 1 illustrates a computing system architecture 100wherein the components of the system are in electrical communicationwith each other using a connector 105. Exemplary system 100 includes aprocessing unit (CPU or processor) 110 and a system connector 105 thatcouples various system components including the system memory 115, suchas read only memory (ROM) 120 and random access memory (RAM) 125, to theprocessor 110. The system 100 can include a cache of high-speed memoryconnected directly with, in close proximity to, or integrated as part ofthe processor 110. The system 100 can copy data from the memory 115and/or the storage device 130 to the cache 112 for quick access by theprocessor 110. In this way, the cache can provide a performance boostthat avoids processor 110 delays while waiting for data. These and othermodules/services can control or be configured to control the processor110 to perform various actions. Other system memory 115 may be availablefor use as well. The memory 115 can include multiple different types ofmemory with different The processor 110 can include any general purposeprocessor and a hardware module or software module/service, such asservice 1 132, service 2 134, and service 3 136 stored in storage device130, configured to control the processor 110 as well as aspecial-purpose processor where software instructions are incorporatedinto the actual processor design. The processor 110 may be aself-contained computing system, for example, containing multiple coresor processors, a bus (connector), memory controller, cache, etc. Amulti-core processor may be symmetric or asymmetric.

To enable user interaction with the computing device 100, an inputdevice 145 can represent a variety of input mechanisms, such as amicrophone for speech, a touch-sensitive screen for gesture or graphicalinput, a keyboard and/or mouse, e.g., for motion input and so forth. Anoutput device 135 can also be one or more of a number of outputmechanisms known to those of skill in the art. In some instances,multimodal systems can enable a user to provide multiple types of inputto communicate with the computing device 100. The communicationsinterface 140 can generally govern and manage the user input and systemoutput. There is no restriction on operating on any particular hardwarearrangement and therefore the basic features here may easily besubstituted for improved hardware or firmware arrangements as they aredeveloped.

Storage device 130 is a non-volatile memory and can be a hard disk orother types of computer readable media which can store data that areaccessible by a computer, such as magnetic cassettes, flash memorycards, solid state memory devices, digital versatile disks, cartridges,random access memories (RAMs) 125, read only memory (ROM) 120, and/orhybrids thereof.

The storage device 130 can include software services 132, 134, 136 forcontrolling the processor 110. Other hardware or softwaremodules/services are contemplated. The storage device 130 can beconnected to the system connector 105. In one aspect, a hardware modulethat performs a particular function can include the software componentstored in a computer-readable medium in connection with the necessaryhardware components, such as the processor 110, connector 105, display135, and so forth, to carry out the function.

It is noted that in one aspect, a computer or computers can be deployedupon a flying vehicle, such as a drone, or as part of a projectilemodule that is removably attached to a drone in which interfaces withthe control system of the drone. The computer or computer devices mayalso be deployed as a separate control system which can communicate witha drone and/or a projectile module and/or projectile itself. Anywireless protocol is contemplated as being utilized for suchcommunication.

FIG. 2 illustrates the overall system design is disclosed herein. Thesystem includes a flying vehicle 200, such as a drone. The particularconfiguration of the drone can vary. While the term drone may be usedherein, any flying vehicle that has the components disclosed herein, andperforms the functions described herein can apply.

A control system 202 can be included on the flying vehicle 200 tocontrol its operation. Control module 204, 206 can represent the variousfunctions performed by the control system 202. For example, feature 218can represent a radar or detection system that can identify a targetdevice 216 that the drone 200 desires to engage with. The control system202 can provide movement instructions, and receive feedback from variouscomponents 218 on the flying device 200. The flying device 200 alsoincludes a projectile module 210 which is attached to the flying device200 via an attachment module 208. The projectile module can be snappedinto the attachment module 208 in a single connecting motion. Forexample, spring-loaded arms with steel dowels that can be perpendicularto an access of the launching direction and attached to ends can you beutilized to ramp on the projectile module 210 as it is connected and tohook it on when it is in place. A locking ring can be twisted in placeto make sure that connecting arms cannot release the projectile until aring is unlocked. The entire projectile module 210 can be attached tothe drone and quickly detached as well. In one example, the projectilemodule 210 is held in a pistol grip and a trigger is squeezed to releasethe device from its amounts. Pogo pins can be used to quickly attach thegun electrically to the mount so that it is at once physicallyconnected. It can also be configured to be electronically commanded tofire as described herein.

In one aspect, the projectile module 210 can include some or all of thecomputing capability necessary for running an algorithm to determinewhen to fire a projectile from the module. In one aspect, some computingcan occur on the projectile module and some computing can occur on theflying vehicle. Wireless communication can occur between the flyingvehicle and the projectile module 210 to communicate firing instructionsaccording to any wireless protocol such as Near Field Communication orBluetooth. The projectile model can include a battery which can operatethe electrical components including the solenoid which can cause thecompressed gas to flow and project the projectile from the projectilemodule.

According to the present disclosure, any number of different mechanismscan be utilized to attach the projectile module 210 to the flyingvehicle 200. The projectile module 210 includes a number of components212, 214. These can represent multiple projectiles that can be containedwithin the projectile container new tab 210, or they can include acontrol mechanism, compressed gas, and so forth, which are more fullydescribed herein and which embody the various features of the projectilemodule.

The flying vehicle or system 200 can also encompass the followingfeatures. The flying vehicle can include a processor 204 that is part ofa computing device or control system 202. The flying vehicle can includea projectile component 210 and a computer-readable storage mediumstoring instructions 206 which, when executed by the processor, causethe processor to perform operations. The system 200 can includeelectrical communications between the control system 202 and theprojectile module 210. These can be wired or wireless communications.For example, any wireless protocol such as Bluetooth can be utilized tocommunicate a triggering command from a control module 202 on the flyingvehicle 202 to a projectile module 210. The triggering command is sentbased on an evaluation model that takes into account the variouscomponents and factors described herein to determine when an appropriatetime exists to fire the projectile. The latency associated with firingthe projectile has to be low and custom electronics for high-speedelectromechanical interactions are useful for reducing the latencybetween the determination by the computing model to fire the projectileand the actual firing the projectile. The triggering command can causevarious components to deploy the projectile. FIG. 8 shows some of thesecomponents. A solenoid 808 to cause gas to flow from a reservoir 806through channels 814, 812, into barrels 816, 818, which can cause theweights to travel from the projectile module 822 and at the targetdevice.

The operations can include one or more of receiving an identification ofa target flying device, applying a projectile model which generates adetermination which indicates whether a projectile, if fired from theprojectile component, will hit the target flying device. The projectilemodel takes into account one or more of a wind modeling in an areaaround the flying vehicle based on an inference of wind due to a tilt ofthe flying vehicle and a projected movement of the target flying devicebased on the identification of the target flying device. When thedetermination indicates that the projectile will hit the targeted deviceaccording to a threshold value, the system will fire the projectile atthe targeted flying device.

FIG. 3A illustrates an example structure associated with the projectilemodule 210 and which can include components of attachment module or gun208/304. This can be called a gun component 304. Components 300 caninclude a first component 302 including a disposable net container thatis prepared with a net or projectile using a tool or jig such as isshown in FIG. 6. One way of characterizing the first component is a cupstructure in that there is an interior portion which receives theprojectile and walls on all sides generally like a cup. The channelsdisclosed herein are configured in the walls of the cup in thischaracterization.

The first component 302 can also be characterized as a clip-on net headcartridge. It can be a single use cartridge or a multi-use cartridge.The overall system includes a gun portion 304 which is attachable to anobject such as a drone and a removable/replaceable projectile module302. The gun portion 304 includes a number of different components. Thegun portion 304 can be attached to a structure configured under anotherobject, such as a drone. To enable such attachment, a movable attachmentcomponent 318 is configured within a framework 317 on the gun portion304. The attachment component 318 as well as other specific componentsdiscussed below are shown in FIG. 3A and FIG. 3B. A spring 320 ispositioned between a portion 360 of the attachment component 318 and atop structure 366 of the gun portion 304. A rod 322 is also configuredin connection with the attachment component 318 and the top structure366 to guide the movement of the attachment component to enable a userto attach to gun to the object or detach the gun portion 304 from theobject. To attach the gun portion 304 to an object, a person would movethe attachment component 318 by using their finger to pull on theextension portion 360 so as to compress the spring 320. This would causethe attachment component 318 to move such that a securing member 316moves to the right (according to the configuration in FIG. 3A) to aretracted position. With the securing member 316 in the retractedposition, the user could engage the extending member 324 into areceiving opening on the object (drone, etc.) and then move the gun 304upward into a locking position such that releasing the attachmentcomponent 318 causes the spring 320 to extend the securing member 316 tothe left such that the gun 304 is locked into position.

In a locked position, the top component 367 will include an opening 354and an electrical component 356, which can engage with an electricalconnector on the object such that the object can trigger the firing ofthe projectile 342. An electro-mechanical connection between the gun 304and the object 702 enables an easy approach of providing both themechanical attachment as well as the ability to electrically communicateand control the gun 304 and projectile component 302 from the object.The electrical connection and mechanical attachment are achievedsimultaneously in the single attachment motion disclosed hereinutilizing, for example, spring-loaded pogo pins. A wirelesscommunication could also be deployed using Bluetooth, a near-fieldcommunication protocol, or any other protocol.

One aspect of the structure of the gun portion 304 is the ability tocontrol when the user is able to move the attachment component 318. Forexample, it is preferable that the user be able to attach or detach thegun portion 304 only when the removable projectile module 302 is in alocked position. If the user is able to detach or attach the gun 304 tothe object when the head cartridge 302 is not secure, it could fall ordetach accidently due to the movement of the gun portion 304. To controlthe ability to remove the gun portion 304 from the object, a rotatablesafety member 330 is included. The safety member 330 is configured to bepositioned on the cylindrically shaped gas valve component 326. Thesafety member 330 has several characteristics which ensure that the usercan only attach or detach the gun portion 304 when the projectile module302 is locked in place or in certain other configurations.

The safety member 330 includes an indented portion 346 (shown in FIG.3B) which is configured on one or both sides of the safety member 330.The indented portion 346 has a complementary shape to a flange 344(shown in FIG. 3B) configured on the inner end of one or more securingarms 334. The securing arms 334 are configured to be biased in a closedposition such that the pins 336 engage with engagement members 338 onthe projectile module 302. The user will attach the projectile module302 by engaging with the securing arms 334, and compressing an end ofthe securing arms having the flange 344 such that the removableprojectile module 302 can be positioned as shown in FIG. 3A. To lock theprojectile module 302 into place, the user releases the securing arms334 and the pins 336 will engage with the engagement members 338 on thehead cartridge 302.

The safety member 330 and its indented portion 346 will then engage withthe flange 344 to lock the projectile module 302 into place. In thisposition, an opening 358 on the safety member 330 will coincide with theposition of the member 360 such that when the user pulls on the member360, the attachment component 318 can move so as to compress the spring320 and enable the user to attach or detach the gun portion 304. As canbe appreciated, when the safety member 330 is rotated around thecylinder 326 such that the indentation 346 is not engaged with theflange 344 such that the user can attach or remove the projectile module302 by manipulating the attachment arms 334, a safety flange 332 isrotated into a position between the member 360 and a position 319 on thegun portion 304, so as to prevent the user from manipulating or movingthe attachment component 318. This is because the component 360 willbutt up against the flange 332, preventing the attachment component 318from moving the attachment member 316 into a position of enablingattachment or detachment of the gun 304. It is noted that there may betwo or more flanges 332 configured on the safety member 330.

Without the ability to move the attachment component 318, a user couldnot attach or detach the gun portion 304 from the object because theperson would not be able to retract the member 316. As is shown in FIG.3B, the safety member 330 can include in one aspect, a ring shapedcomponent 323 and a first extension member 321 and a second extensionmember in opposite positions on the ring such that a semicircularcomponent or portion of the safety member can attach to the firstextension member 321 and the second extension member. Note that thesemicircular component can include one or more of the flange 332, anopening portion 358 and another flange not shown. The semicircular shapeshown in FIG. 3B is by way of example. The portion of the safety member330 containing the flange 332 could also be circular as well. In anotheraspect, the portion of the safety component having the flange 332 couldbe ring-shaped, and the portion having the indentation 346 could besemi-circular. The functionality of the safety component 330 is that itis configured to rotate on the cylindrical valve 326 from a lockedposition to an unlocked position for the head cartridge 302. There arenumber of different structures which can be implemented to enable thisfunctionality and one example structure is provided.

The first extension member 321 is thicker than the ring shaped component323 for the following functionality. When in a locked position as shownin FIG. 3A, the first extension member 321 and the second extensionmember (not shown) are thick enough to prevent the user from being ableto manipulate the attachment arms 334 to attach or detach the projectilemodule 302. However, when the safety member 330 is rotated such that thethinner portion of the ring shaped component 323 coincides with the endsof the attachment arms 334, there is enough space between the ends ofthe attachment arms 334 and the ring shaped component 323 such that theuser can manipulate the attachment arms 334 and either attach or detachthe projectile module 302.

The safety component 330 therefore operates in the following manner. Thegun 304 can be attached to the object either (1) when a head cartridge302 is attached to the gun 304 and the safety component 330 is locked inthe position shown in FIG. 3A such that the structure 358 enables thecomponent 360 to be moveable to attach or detach the gun 304; or (2)when there is no head cartridge 302 attached and the safety component330 is also in the same position shown in FIG. 3A. If the head cartridge302 is attached but the safety component is not locked into the properposition, such that the head cartridge 302 could be removable or couldfall off, then the user cannot attach or detach the gun 304 due to theflange 332 preventing the movement of the component 360 against thespring 320. A sticker or an indication can be positioned on the cylinder326 to inform the user regarding whether the head cartridge 302 islocked in position or not. The sticker/indication would be placedtypically on the cylinder 326 behind the position of the arm 321 shownin FIG. 3A. The indication could be paint, ink, or any kind of markingto illustrate or inform the user regarding the status of the headcartridge 302. Thus, if the safety component 330 is rotated such thatthe arm 321 is either above or below the location shown in FIG. 3A, theconfiguration of the safety component 330 would reveal the notification(like a red dot) that the head cartridge 302 is not locked intoposition.

Other components of the gun portion 304 include a compression chamber,accumulation reservoir, or gas reservoir 308, having a pressureindicator or dial pressure gauge 328. A canister 306 of compressed airor CO₂ can be attached to the compression chamber 308. An intermediatechamber or gas valve 326 can receive the compressed air as controlled bythe gun portion 304 such that, upon firing, the gas can flow into asplitter component 344 that splits the flow of gas from an intakeportion 353 into two or more output channels represented by O-rings 352.The O-rings 352 or a rubber component for each opening is used to sealan opening on the splitter 344 with the respective opening 350 on thehead cartridge 302. In other words, the other side of the splittercomponent 344 has two or more openings that are configured to coincidewith the openings 350 on the projectile module 302. In a locked positionin which the pins 336 lock with the engagement members 358, the O-rings352 will provide an airtight channel between the exit openings on thesplitter component 344 and the input openings 350 on the projectilemodule 302.

While separate O-rings 352 are shown as providing a seal between thecomponent 344 and the openings 350, in another aspect, a single gasketcan be used to seal the interface between the removable head cartridge302 and the gas splitter 344. In some cases, individual O-rings can besusceptible to fall out. The single gasket can have four openings in ascenario where there are four channels for gas to flow. In anotheraspect, the gasket could be configured for a different number ofopenings as well. A single gasket which provides the sealing functioncan insure a more stable seal and the more simple manufacturing processthen individual O-rings.

The gas reservoir 308 is used to ensure that there is a repeatable andconsistent gas pressure at which the projectile is fired. When makingthe calculations regarding when to fire the projectile, the system needsto have a high confidence level in the gas pressure at which theprojectile is fired. Otherwise, the speed at which the projectile isfired can vary or be inconsistent.

A component 348 can be attached to the gun portion 304 to protect somefeatures of the gun 304 such as the gas valve component 326.

The projectile module or cup structure 302 includes a number of channels314, 340 , configured in the walls of the structure which receiveweights as shown in FIG. 5. Each respective channel 314, 340 receives aweight such that a rounded end of each respective weight can be seen inthe opening 350. The channels are configured within the walls of the cupor head cartridge 302 and each channel has openings at both ends. Afirst opening of the respective channel is used to receive the weightfor insertion into the channel and to enable the weight to be shot orprojected out of the channel. A second opening of the respective channelis used to enable the pressurized gas into the channel to push or forcethe weight through the channel and out the first opening. Feature 350represents the respective second openings of each of the channels in thehead cartridge 302. The respective weights will be positioned atlocations 366, 368 shown in FIG. 3A. Each respective weight will have aline 362, 364 attached to it that is also attached on the other end tothe projectile 342. When the system fires, the compressed gas will flowfrom a threaded inert gas bottle or canister 306 to the compressionchamber 308 into the solenoid component 303 connected to a gas valve 326and through an opening in the brackets 346 to the opening 353 in thesplitting component 344 such that each opening 350 (which can includeone, two, three, four, or more openings) will experience a high enoughair pressure to cause the respective weights to travel quickly throughthe channels 314, 340, such that they break out of a breakable seal 310on the projectile module 302. An electrical signal can be provided fromthe object to the electrical component 356, which can cause the solenoid303 to activate and cause the firing the projectile. The moving weightswill then pull the projectile 342 out of the opening 312 and towards therespective target. The solenoid 303 can be a coil wound into a tightlypacked helix which can produce a uniform magnetic field in a volume ofspace when the electrical current is passed through it. This componentcan also be characterized as a solenoid valve which, when integratedwith the component 326, will actuate the valve 326 to cause the gas toflow from the accumulation reservoir 308 through the valve 326 and thesplitter component 344 the fire the projectile.

The weights that are used will fit within the channels 314, 340 at theirposition 366, 368 in a manner such that upon the application of the gaspressure from the component 344 and other components that the pressurewill cause the weights to move down the respective channels 314, 340 ata predictable speed. The channels have respective openings at both ends.The O-rings 502 (see FIG. 5) around the weights can also provide the airseal to enable in the firing process. The material of the weights can bemetal such as stainless steel but it can also be other materials as wellsuch that the proper weight of each of the weights can be configured.

The firing direction 312 is shown and a sealing 310 can exist at anopening of the projectile module 302, which can be used to seal thefirst component for dirt or water ingress protection. For example,aluminum foil 310 can be used to cover the opening, which can easily bebroken upon firing. Not shown is an optional string or line that can beattached to the projectile 342 at a first end and which can have aconnector at a second end, which can be attached to the object or thedrone. The optional string can then be used to retrieve the targetobject rather than merely causing the target object to fall to theground.

It is noted that FIGS. 3A and 3B illustrate the projectile module 302.Another term for the projectile module 302 can be a single headcartridge. The cartridge could be 3D printed on site. For example, acustomer could receive a drone and a gun component 304 withcomputer-readable configuration instructions for printing projectilemodules or single head cartridges in the field using a 3D printer. Thus,in terms of a product-by-process embodiment, the product of the gun 304having an attached projectile module 302 can include receiving aphysical gun 304, as described herein, and receiving computer-readableinstructions for instructing a 3D printer to create the projectilemodule 302 configured to receive the projectile and respective weightsas described herein, and configurable to be removably attached to thegun. The cartridge could also be injection molded as well.

Other example configurations could include a dual launcher in whichmultiple gun components 304 can receive multiple head cartridges 302. Inthis configuration, the object to which the multiple components areattached to can be configured to provide an electrical signal to eachrespective unit so that multiple shots can be available. The overallsystem can also be configured to have more than two units such thatthree or more projectiles can be fired.

FIG. 4 illustrates a net 400 which can be used as a projectile. Anexample net is 3.2 m by 3.2 m square with approximately 40cm spacingbetween the strings. Of course this represents only an example netconfiguration and this disclosure contemplates a number of differentconfigurations. For example, the nets might be circular, oval,rectangular, or have a random or more complicated shape. The net in FIG.4 includes corner component 402 are each attached to a weight 44. Eachweight at a corner of the net has a certain configuration that will bediscussed in FIG. 5.

An example net material is a 0.6 mm diameter Dyneema string. Otherdiameters and string material are also contemplated as well. In oneexample, each corner of the net has a tail that is used to attach arespective weight 404. The component 302 is configured to accept avariety of net sizes. For example, feature 212 can be of one size andfeature 214 can represent another size. The net size described abovewith the 3.2 m×3.2 m square shape is considered one size that can catcha majority of target devices.

The number of weights also can vary. For example, if the net shape iscircular, the system may deploy the net with three weights or fiveweights. More or less weights are also contemplated and can be includedin the overall projectile design. The weights may be of the same weightand configuration or may be different weights or differentconfigurations depending on the projectile model. For example, heavierweights on some edges can cause the net to travel through the airdifferently.

FIG. 5 illustrates an example weight 500. In one example, the weightsare made of stainless steel, but other materials are also contemplated.An example weight is cylindrical in shape and has an O-ring groove 502and a string attachment point 506. A distal end 510 of the weight has apreferable configuration of being rounded but could also be squared offas well. An O-ring 502 on the weight 500 is positioned to allow theweight to sit snugly in a respective channel 314, 340 at the properposition 366, 368. Having the respective weight fit within the net headcartridge 302 at the proper position provides a more powerful deploymentof the projectile. Each respective weight's leading edge 504 isconfigured with a sharp corner or edge which lessons a likelihood ofjamming the string (connected to the net or projectile) as the weight500 travels through the channel 314, 340. A tail 508 attaches the weight500 to a corner or a component of the net 400. A width of the stringattachment point 506 is typically less than a width or diameter of theweight at point 504. The difference in width of these two portions ofthe weight 500 is purposefully designed to enable the deployment or thetransition of the weight from point 366, 368 through the respectivechannel 314, 340 without the string 508 getting caught between theweight 500 and an interior surface or channel wall as the weight movesthrough the channel 314, 340. Having a rounded end 510 of the weight,with an O-ring 502 in the middle, and a sharp edge 504 at the other endof the weight 500 enables an improved process of firing the weightthrough the barrel or channel 314, 340 without the string 508 beingtangled or fouled in the process.

There are a number of benefits of using an O-ring on the weight 500. Forexample, using the O-ring simplifies the manufacture of the weight 500because it reduces the precision required. The O-ring can seal the gasupon firing and can physically retain the weight 500 in place so that itdoes not slide or move out of position. The O-ring is configured withina channel or groove that is in the outer surface of the weight 500 andwhich is configured to receive and retain the O-ring in place.

While the shape shown in FIG. 5 it is preferable for the weight, otherconfigurations are contemplated as well. For example, a square orrectangular shape could also be applied. A swivel point for a rifledconfiguration could be between the weight at position 504 and the stringattachment component 506. A swivel point could also be near a middleregion such as where the O-ring 502 is configured. The weight could alsobe spherical in shape with an attachment component 506 configured at alocation on the sphere.

One purpose of the O-ring 502 is to maintain the respective weight atits proper position 366, 368. If the weights are in different positionswithin a respective channel 314, 340, each respective weight coulddeploy at different speeds or different velocities, which can beproblematic in that the system is determining a prediction of the pathand speed of the projectile which includes an expectation of aconsistent or expected speed of the weights as they deploy. Accordingly,the use of the O-rings 502 helps to ensure that the weights are in theirproper and expected position 366, 368 within the projectile cartridge302 prior to deployment.

In another aspect, the diameter of the weight 500, relative to thechannel interior diameter 314, 340 can be close enough to prevent arespective weight from shifting or moving within the channel prior tofiring. Accordingly, while the use of the O-ring 502 is beneficial, isnot considered an essential feature.

In one aspect, the channels 314, 340 can be rifled such that helicalgrooves can be provided in a round bore. Any kind of riflingconfiguration of the barrels 314, 340 can be applied. In this aspect,the weights 500 can also be made to match the shape of the bore so thatthe respective weights would grip the rifle bore and spin in a certaindirection. In one aspect, the weights 500 could include a swivel suchthat the string attachment point 506 can twist independent of the weight500.

FIG. 6 illustrates a tool or jig used to prepare a net for insertion inthe net head cartridge 302. Preparing a net (when a net is theprojectile) involves configuring the net to be inserted into thecartridge 302 with the respective weights being pushed down the barrels314, 340 into the proper respective position 366, 368 such that the net342 deploys properly. This is not an easy process. Therefore, FIG. 6shows an example tool for preparing the net for insertion into a headcartridge 302. Turning to FIG. 6, the net 608 rests in a container thathas four barrels 606, one barrel being positioned at each corner of thenet container 600. The barrel 606 is a hole or opening for a respectiveweight 604 attached to the net. The container 600 is removable from theprojectile module 210. Each respective weight 604 is loaded into arespective barrel 606 and the net 608 is placed in between them in thecontainer 600. Shafts 610, 612 can be used to position the net 608 insuch a configuration that prevents the net from jamming as it isdeployed. A shape of the net container 600 is shown to be square 602 inFIG. 6. But this is not an essential characteristic of the net container600. For example, if the net were to have a circular configuration ortriangular configuration, and three weights were used for a deployment,a shape 602 of the net, container 600 might be circular or triangular.The shape may also be circular if, for example, five weights were used.Thus, the particular shape of the net container 602 can vary dependingon the shape of the net to be deployed or other factors.

The net 342 with the weight(s) attached and the head cartridge 302 cantogether be considered a removable or disposable single net shot. Theycan be traded out each time the device is used. For example, adisposable net head cartridge 302 can be used once or a number of times.Packing the nets to ensure that is that they deploy correctly andaccurately is favorable. One reason to provide a removable or disposablesingle net shot is that customers who utilize the projectile moduleswill not want to pack them themselves and will want single shotdisposable net containers that make it more simple to utilize thetechnology.

The head cartridge 302 can also have a number of differentconfigurations. The example shown in FIGS. 3A and 3B are generallyrectangular in configuration with four channels, each containing asingle weight. The net head cartridge 302 could also have a squareshape, or a circular shape or a nonsymmetric shape. Typically, thenumber of weights will be 4. However, in other configurations, thenumber of weights could be one, two, three, five, or more. The number ofweights could depend on a shape of the projectile or other factors. Forexample, a triangular-shaped projectile could have 3 weights, whereineach point of the triangle has a respective weight. The channelconfiguration (314, 340) can also vary in number depending on the numberof weights needed for a particular projectile configuration. For a 3weight system, the head cartridge 302 can have 3 channels, and so forth.

Where the configuration of the head cartridge 302 changes, correspondingchanges could be made to the gun 304. For example, the component 344could be adjusted so that there are only 3 openings 352 if theconfiguration of the head cartridge 302 only had channels for 3 weights.In another example, the component 344 may have a fixed number ofopenings through which gas can flow and the head cartridge 302 mayprovide variable openings depending on its configuration. In thisscenario, for example, the gun 304 may have a component with 5 openingswith a respective O-ring 352 at each opening. Different head cartridge302 configurations could be attached such that in one scenario, the headcartridge may have 5 openings with 5 weights in which each opening inthe head cartridge 302 has a corresponding opening in the component 344.Another head cartridge 302 may have 3 or 4 weights and thus 3 or 4openings. Such a head cartridge could be configured to align the 3 or 4weights in their respective channels with appropriate correspondingholes in the component 344. A closed portion of the head cartridge 344could seal off the other openings in the component 344 that do not havecorresponding channels in the head cartridge 344 to maintain thenecessary gas pressure in the system to fire the projectile. FIG. 7illustrates another example of a system 700 with a drone 702 having anattachment component 704 with an interface 706 between a projectilemodule 708 and a replaceable projectile container 710. In the exampledescribed herein, in which the projectile (net) has weights which arecontained within barrels 606 as part of a projectile container,compressed air is used the fire the net. In one aspect, when theprojectile 710 is fired, as disclosed herein, a string can be maintainedat the drone 702 and the target drone can be captured by the net. Inother words, a tether can be established such that rather than merelysurrounding a target device with a net such that it falls from the sky,a capturing operation with a tether can be implemented. The drone 702can then capture and carry a target drone down from the sky rather thanhaving the target drone fall from the sky after it is covered by thenet. The component 704 attached to the drone can also includemechanisms, such as a release mechanism so that the drone 702 couldlower the captured drone down and release the tether at a safe elevationor the safe location. In this regard, a computer model that would beimplemented to determine when to fire the net can take into account anidentification of the target drone which can gather such features as itsweight to determine whether the flying device 702 can capture and carrythe target drone or not. In this regard, the computer model could alsoinclude a release mechanism in which it determines whether to capturethe target drone and carry it to the ground via a tether or whether notto utilize the tether and simply fire the net at the target drone totake it out of the sky. Factors which can be taken into account includea weight of the target device, a perceived danger of the target device,whether the target device has a payload, and so forth. For example, ifthe target device is determined to have an explosive on board, theflying device 702 can, based on that determination, capture the targetdrone with the tether and carry it to a safe location for disposal ordestruction. There can be a tether 343 for capturing the object (targetdrone) and a release mechanism 345 as well for releasing the capturedobject from the drone. The tether release mechanism 345 is shown at aparticular location on the gun base 304 but can be located at anylocation in the overall system. The tether 343 can be connected to theprojectile 342 at a first end and the tether release mechanism 345 at asecond end. After capturing a target object, the system can retrieve thetarget object and use the tether release mechanism 345 to controllablydrop the target object. For example, the drone can capture the targetobject using the projectile 342 and having the tether 343 attached tothe projectile 342, can controllably lower down to the ground and at anappropriate height, can initiate the tether release mechanism 345 fordropping the target object on the ground. The tether release object canbe electrically controlled through the signals provided physically354/356 or wirelessly. The system could include the projectile module302 having the tether 343 attached to the projectile 342 at the firstend and a second end could be attached to an attachment component at thesecond end which is taped temporarily to the outside surface of theprojectile module 302. The user then attaches the projectile module 302to the gun base 304 and using the attachment component connected to thesecond end of the tether 343 to attach the tether to a tether releasemechanism 345 located somewhere on the system.

Component 704 and/or 706 can also represent an adjustment module whichcan be utilized with just an orientation of the projectile module 708.For example, a target device 712 might be positioned at a certain anglerelative to the drone 702. Computer algorithms operating on the drone702 might determine that a particular orientation of the drone 702 isnot optimal or preferable for firing the projectile 710 at the targetdrone 712. However, it might be preferable, given when conditions orother conditions, not to adjust the entire orientation of the drone 702,but only to adjust the orientation of the projectile module 708. In thisscenario, adjustment components can be built into features 704 and/or706 such that a command module on the drone 702 can utilize thedetermination or output from the computer algorithms associated with thevarious conditions as described herein, and instruct the component704/706 to reorient the projectile module 708 in a more favorableorientation for the deployment of the projectile 710. After thereorientation, the computer models can take into account the newdirection at which the projectile would leave the projectile module 708and then make new determinations regarding when to fire the projectileat the target device 712.

FIG. 8 illustrates an example of how the component shown in FIG. 7 mightbe implemented in more detail. FIG. 8 illustrates a system 800, whichcan include some components that can be attached to a flying vehiclerepresented by feature 704 and/or 706 in FIG. 7 and other componentswhich can be configured in a detachable way represented by features 708and/or 710. In FIG. 8, a tank 802 contains compressed nitrogen for usein deploying the net 820. The tank is attached to feature 804 whichenables nitrogen to be provided to a compression chamber 806. The systemrequires the gas to be compressed a certain pressure in order toadequately deploy the net. In one example, a separate chamber 806 isshown to ensure that the gas is compressed to the proper pressure. Inanother scenario, only the tank 802 is used in the pressure in the tankcan be controlled by the system.

Feature 808 represents a solenoid valve or other valve that is used totrigger the launch of the projectile. The valve 808 can be attached tothe reservoir 806 on the intake side and exits through the barrels 816,818 in the projectile container 826. A distribution manifold 812, 814exist between the solenoid valve 808 and the projectile container 826 tosplit the expanding nitrogen into multiple channels and directly to thenet barrels 816, 818. The O-rings 828, 830 are shown on the weightscontained within the barrels 816, 818. The O-rings seal all theconnections between the parts and enable the projection of the net 820.The solenoid 808 can receive an electrical signal from an operatingcomputer 826. The operating computer 826 is typically deployed on theflying vehicle 702 and has an electrical connection to the projectilemodule for enabling the transmission of the signals to fire. In general,the control system on the flying vehicle will perform the analysisutilizing the models described herein to determine, based on the variousfactors, the moment at which to fire the projectile.

It is preferable to improve compressed nitrogen be used in a disposablecartridge that can be used to launch the gun. Feature 306 represents anexample of the disposable cartridge. Typically, each shot uses 1cartridge. An aluminum reservoir 806 is represented that can have apuncture insert that can be used to attach the cartridge 802 to theprojectile module and store an appropriate amount of gas at the rightpressure to deploy the net. Ideally, the reservoir 806 might have ormight be a cartridge itself. One incentive to use the reservoir 806which can maintain the nitrogen at the appropriate pressure is theexistence of nitrogen cartridges for purchase that can easily be used.

This disclosure now turns to the method aspects and focuses on thecomputer models that have been developed to determine a timingassociated with when to fire a projectile from a first flying device toa target device. FIG. 9 illustrates a method example. A method includesreceiving, at a flying vehicle, information associated with a targetflying device, wherein the flying vehicle comprises a projectile modulecontaining a projectile (902), applying a projectile model whichgenerates a probability value that the projectile, if fired from theprojectile module, will hit the target flying device, the projectilemodel taking into account a wind modeling in an area around the flyingvehicle based on an inference of wind due to a tilt of the flyingvehicle, the wind modeling also considering one or more (1) how theprojectile travels through air in which the air has a particular airdensity, (2) how the projectile travels through the air at a projectiledeployment velocity, (3) a drag on the projectile as it travels throughthe air and (4) a drag on weights attached to corners of the projectile(904) and, when the probability value indicates that the projectile willhit the targeted device according to a threshold, firing the projectileat the target flying device (906).

The projectile can include one or more of a net, a streamer, a pellet, abean bag, a weighted net having a weight attached to each corner, or anexplosive. The projectile module can include one or more characteristicscomprising: (1) being attached to the flying vehicle in a fixedposition, (2) having a protective cover that is broken upon deployingthe projectile, (3) containing two or more projectiles, and (4) havingcontainers that store weights attached to the projectile. The projectilemodule may also include a tether component in which the projectile isfired, and a tether maintains a physical connection between the flyingvehicle and the projectile. The projectile module can be attached to theflying vehicle and can include an adjustment component that enables theprojectile module to change its orientation independent of a position ofthe flying. A control module can be configured on the flying device andhave an electrical connection to the projectile module adjusts anorientation of the projectile module. The projectile model can furtherconsider one or more of a flying vehicle position, a flying vehiclepitch, a flying vehicle yaw, a flying vehicle velocity, a target flyingdevice manufactured specification, a target flying device currentposition, a target flying device velocity, a geographically defined safearea, known flying capabilities of the target flying device and a windvelocity. The projectile model can also take into account a targetflying device characteristic in terms of whether to deploy a projectilethat is tethered to the flying vehicle or not. The flying devicecharacteristic can include such features as a weight of the flyingdevice, a payload associated with the flying device, a danger identifiedor associated with the target flying device, a geographic area overwhich the flying device currently is or where it may travel, and soforth.

For example, if the target flying device appears to be containing apayload which is identified as an explosive, and the target flyingdevice is near a restricted geographic area, such as a stadium, theflying vehicle may deploy a projectile with a tether attached to theflying vehicle, such that the flying vehicle captures the target flyingdevice and can carry it to a safe location. This is of course desirableto avoid the target flying device from simply being surrounded by, andfall from the sky over a populated area, such as a stadium. The flyingvehicle can include components which will be controllable by controlsystem to either attach a tether to the projectile or detach a tether tothe projectile prior to firing the projectile at the target flyingdevice.

In one aspect, the model can take into account assumptions as well. Forexample, the computer model may assume that for one half of a second,the target device will fly in a straight line from its last knownposition and velocity. This assumption can be adjusted based onidentification of the target device type, a determination of whether thetarget device is a danger and potentially likely to take evasivemaneuvers, and so forth. In one example, the modeling of the predictedpath can take into account the position, velocity and direction, andassumes that same direction for a small period of time. Of course, thattime can vary from a fraction of a second to one or more seconds.

The projectile module can further consider one, two or more of theflying vehicle position, the flying vehicle pitch, the flying vehicleyaw, the flying vehicle velocity, the target flying device manufacturedspecification, the target flying device current position, the targetflying device velocity, the geographically defined safe area, the knownflying capabilities of the target flying device and the wind velocity.

Applying the projectile model can be performed based on an orientationof the flying vehicle. For example, the computing device or controlsystem on the flying vehicle can determine, based on an orientation ofthe flying the vehicle, what the wind speed is. For the flying vehicleto maintain a stable position in a wind, it must tilt into the wind inorder to take into account the wind. The models disclosed herein canutilize the information about the wind speed inferred from the tilt ofthe flying vehicle in its evaluation of the flight path of theprojectile and the location of the target device. Utilizing the windspeed that is determined from the tilt of the flying vehicle can improvethe accuracy of the timing of when to fire the projectile and achieve asuccessful engagement of the project with the target device.

The method can further include applying the projectile model to generatea new orientation of the flying vehicle. Adjusting the orientation ofthe flying vehicle to the new orientation of the flying vehicle canoccur before firing the projectile from the projectile module. Theflying vehicle can further reapplying the projectile model afteradjusting the orientation of the flying vehicle. In another aspect, theorientation of the flying vehicle may remain the same, but an adjustmentmodule can be configured to enable only a reorientation of theprojectile module direction. Thus, if the flying vehicle is in a wind,for example, and is advantageous to the flying vehicle to maintain itsorientation given the wind speed, the system can only adjust theorientation of the projectile module while maintaining the overallorientation of the flying vehicle and then fire the projectile. A gimbalcan be configured between the flying vehicle and the projectile module.

FIG. 10 illustrates another example method embodiment. A method in thisregard includes receiving, at a flying vehicle, an identification of atarget flying device, wherein the flying vehicle includes a projectilemodule containing a projectile (1002), applying a projectile model whichgenerates a determination which indicates whether, if fired from theprojectile module, the projectile will hit the target flying device. Theprojectile model can take into account a wind modeling in an area aroundthe flying vehicle based on an inference of wind due to a tilt of theflying vehicle (1004). When the determination indicates that theprojectile will hit the targeted device according to a threshold value,the method includes firing the projectile from the projectile module atthe targeted flying device (1006). The modeling can also include acombination of modeling of the projectile as well as a predictivealgorithm regarding whether the projectile will interact with the targetdevice.

The flying vehicle may have a first orientation. In this case, themethod can further include, when the determination does not meet thethreshold value at the first orientation, identifying a new orientationof the flying vehicle or a new orientation of only the projectile moduleattached to the flying vehicle at which the determination would meet thethreshold value. The method can include reorienting the flying vehicleand/or the projectile module at the new orientation and firing theprojectile from the projectile module on the flying vehicle at the neworientation. The method can include rerunning the projectile model atthe new orientation to yield a new determination and when the newdetermination indicates that the projectile will hit the target flyingvehicle within a second threshold value, firing the projectile from theprojectile module. In this scenario, the threshold value can be one ofthe same as or different from the second threshold value.

The projectile model can take into account one or more of (1) how theprojectile travels through air in which the air has a particular airdensity, (2) how the projectile travels through the air at a projectiledeployment velocity and (3) a drag on the projectile as it travelsthrough the air to yield the determination. It is noted that the drag onthe projectile as it travels through the air can include an evaluationof both the material, size of material, and configuration of a net, forexample, as well as the size and position of the weights attached to thenet as described herein. The projectile can include one or more of a netor a weighted net having a respective weight attached to each corner ofthe net or in various locations on net if the net is circular. Theprojectile model can include a model of drag associated with a netdeployment expansion as well as relative to wind. The projectile modelcan also take into account one or more of a projected path of the targetflying vehicle and known navigation capabilities of the target flyingvehicle. The projectile model can also apply net model parametersincluding how fast the projectile exits the projectile module uponfiring, an air density, and an amount of drag on the projectile.

In another aspect, a flying vehicle may be equipped with a system thatincludes several projectiles of different types or of different sizes.For example, the projectile module can include a packet of pellets,taser electrodes, and/or a net. The computer model which evaluates thevarious factors disclosed herein can yield a determination regardingwhich type of projectile to project or which size of projectile toproject. For example, two different net sizes and configurations can bedeployed on a flying vehicle. The system may run one model or twoindependent models which take into account the different netcharacteristics, and thus the differences in how the two nets willdeploy and expand, and travel through the air. Having different netconfigurations would yield different probabilities of whether eachindependent net would capture the target device. The computer models totake into account a potential danger associated with the target deviceand make a determination regarding which projectile to project first.For example, the system may determine to deploy the net having a largerdiameter which will have a greater probability of capturing the targetdevice. Other considerations such as the geographic location may betaken into account. For example, if the target device is a danger, andyet not over a populated area, the system may determine that rather thandeploying the net, that a series of pellets or streamers would beprojected to interrupt the propeller system of the target device andcause it to fall.

Again, the system may determine information about the type or indicationof the target device and include in the algorithm data regarding ageographic area that is to be defended. The algorithm can take intoaccount these various factors and make a triggering decision not only ona timing of when to trigger a projectile at the target device, but alsooptionally a type of projectile or a size of projectile to project. Analgorithm can be implemented as part of the modeling to determine thephysical navigational and speed capabilities of the target device,whether it is a bad actor, and whether it is likely to be directed to anarea or geographic space to be defended.

In one aspect, where multiple projectiles are configured on the flyingvehicle, a spare projectile can be included as a backup. In onescenario, the computer model will include in its evaluation the factthat a primary projectile and a backup projectile are available on thedevice. The thresholds that can be established for determining when tofire a projectile can therefore be taken into account, and adjustedbased on the fact that a backup projectile exists. For example, if onlya single projectile is available on the device, the system may have ahigher threshold or require a higher probability of successfulengagement prior to triggering the firing of the projectile. However, ifa backup projectile exists, then a lower threshold of probability ofsuccess can be established before firing the first projectile.Adjustments can be made for the different capabilities of a primaryprojectile and a secondary projectile with respect to their respectivemodels for triggering their deployment.

In one aspect, the projectile module includes two projectiles, like twonets. The system can implement different thresholds for differentprojectiles having different sizes or other characteristics. The systemmay select which projectile to shoot. For example, one projectile mayhave a bigger profile or smaller profile, based on all the factors. Inone case, a drone may have an identification that enables the system toknow its capabilities for navigation. That knowledge can indicate thatto take down the drone will require a larger sized net to capture incase it moves or tries to evade. The system can also run two models eachfor a different projectile. One projectile can be pellets and the othercan be a net and the model(s) determines which type of projectile todeploy and when.

FIG. 11 illustrates a taser embodiment 1100. In this aspect, a system1100 includes flying object, such as a drone having an attachedcomponent 1102, which includes taser components for shooting projectilesat a target device. In this scenario, the weights 1106, 1108 areattached to conducting wires 1126, 1128. Spools 1116, 1118 are used, tounwind or deploy the wires in a manner that they will deploy cleanly.The connecting wires are attached. 1120, 1122 to an electrical circuit1124. When the system indicates or triggers the taser, a compressed gascartridge 1110 can be broken or open 1112 such that the expanding gascan build pressure behind the weights 1106, 1108 launching them throughthe air. The weights 1106, 108 can be fixed with small barbs so thatthey can grab onto the target device. The weights in this scenario, actas electrodes attached to the target device. With the electrodes 1106,10108 attached to the target device, the current travels from thecircuit 1124 down the wires 1126, 1128 into the target object stunningor disabling it.

Just as the head cartridge 302 as described above, a replaceable tasercartridge could also be provided as well. A configuration could alsoinclude a net head cartridge 302, as well as a taser cartridge 1102 inthe same overall system. The system could then include a determinationalgorithm regarding whether to fire and net or to fire a taser at atarget object.'

FIG. 12 illustrates a method embodiment related to packing the headcartridge 302 with the projectile 342 using the tool or jig 600 shown inFIG. 6. The purpose of the tool 600 is to simplify the process ofloading the projectile 608/342 into the head cartridge 302. Theprojectile 608/342, when it is a net, can easily become entangled anddifficult to properly configure within the head cartridge 302. The tool600 enables the user to easily prepare a configuration of the projectile608/342 for inserting into the head cartridge 302. The method is asfollows. A user configures a projectile 608 on a tool having a basecomponent 602 which is configured with one or more barrels 606 arrangedto receive respectively one or more weights having strings tied theretoand which are connected to the projectile 608 (1202). The barrels arelike cups or openings that are configured to receive the respectiveweights for holding in a proper position while the user can configurethe projectile on one or more shafts 610, 612. With the projectile 608prepared on the tool 600, the user can then bring the tool 600 into ornear the opening 312 of the head cartridge 302 such that the projectile608 can easily be slid off of the shafts 610, 612 and into the openingof the head cartridge 302 (1204). This process maintains the organizedconfiguration of the projectile 608 as it is loaded into the headcartridge 302. The user can then easily move each respective weight 604from its respective barrel 606 and into the appropriate channel 314, 340such that it can be pushed down into its proper position 366, 368 inpreparation for firing (1206). Where a tether 343 is attached to theprojectile 608, the tether can be prepared utilizing the shafts 610,612. An end of the tether can have an attachment component tied to itsuch that it can be taped to an exterior surface of the head cartridge302 (1208) or at some other location. The method can include any one ormore of the steps outlined in FIG. 12. For example, step 1208 isoptional in that some projectiles 608 will not have a tether attachedthereto and thus that step is optional.

The tool 600 can be used to organize the projectile 608 as well as atether 343 together. In other words, the projectile 608 configured in anorganized fashion on the shafts 610, 612 can also include the tether 343also configured or organized in connection with the shafts 610, 612 suchthat the entire package of the projectile and the tether can be easilyslid into the opening of the head cartridge 302 in preparation forfiring.

In some embodiments, the computer-readable storage devices, mediums, andor memories can include a cable or wireless signal containing a bitstream and the like. However, when mentioned, non-transitorycomputer-readable storage media expressly exclude media such as energy,carrier signals, electromagnetic waves, and signals per se.

Methods according to the above-described examples can be implementedusing computer-executable instructions that are stored or otherwiseavailable from computer readable media. Such instructions can include,for example, instructions and data which cause or otherwise configure ageneral purpose computer, special purpose computer, or special purposeprocessing device to perform a certain function or group of functions.Portions of computer resources used can be accessible over a network.The computer executable instructions may be, for example, binaries,intermediate format instructions such as assembly language, firmware, orsource code. Examples of computer-readable media that may be used tostore instructions, information used, and/or information created duringmethods according to described examples include magnetic or opticaldisks, flash memory, USB devices provided with non-volatile memory,networked storage devices, and so on. Any token or structure/functiondisclosed herein can apply to a tokenized asset offering or a securitytoken offering.

Devices implementing methods according to these disclosures can includehardware, firmware and/or software, and can take any of a variety ofform factors. Typical examples of such form factors include laptops,smart phones, small form factor personal computers, personal digitalassistants, rackmount devices, standalone devices, and so on.Functionality described herein also can be embodied in peripherals oradd-in cards. Such functionality can also be implemented on a circuitboard among different chips or different processes executing in a singledevice, by way of further example.

The instructions, media conveying such instructions, computing resourcesfor executing them, and other structures for supporting such computingresources are means for providing the functions described in thesedisclosures.

Although a variety of examples and other information were used toexplain aspects within the scope of the appended claims, no limitationof the claims should be implied based on particular features orarrangements in such examples, as one of ordinary skill would be able touse these examples to derive a wide variety of implementations. Further,although some subject matter may have been described in languagespecific to examples of structural features and/or method steps, it isto be understood that the subject matter defined in the appended claimsis not necessarily limited to these described features or acts. Forexample, such functionality can be distributed differently or performedin components other than those identified herein. Rather, the describedfeatures and steps are disclosed as examples of components of systemsand methods within the scope of the appended claims. Moreover, claimlanguage reciting “at least one of” a set indicates that one member ofthe set or multiple members of the set satisfy the claim.

It should be understood that features or configurations herein withreference to one embodiment or example can be implemented in, orcombined with, other embodiments or examples herein. That is, terms suchas “embodiment,” “variation,” “aspect,” “example,” “configuration,”“implementation,” “case,” and any other terms which may connote anembodiment, as used herein to describe specific features ofconfigurations, are not intended to limit any of the associated featuresor configurations to a specific or separate embodiment or embodiments,and should not be interpreted to suggest that such features orconfigurations cannot be combined with features or configurationsdescribed with reference to other embodiments, variations, aspects,examples, configurations, implementations, cases, and so forth. In otherwords, features described herein with reference to a specific example(e.g., embodiment, variation, aspect, configuration, implementation,case, etc.) can be combined with features described with reference toanother example. Precisely, one of ordinary skill in the art willreadily recognize that the various embodiments or examples describedherein, and their associated features, can be combined with each otherin any combination.

A phrase such as an “aspect” does not imply that such aspect isessential to the subject technology or that such aspect applies to allconfigurations of the subject technology. A disclosure relating to anaspect may apply to all configurations, or one or more configurations. Aphrase such as an aspect may refer to one or more aspects and viceversa. A phrase such as a “configuration” does not imply that suchconfiguration is essential to the subject technology or that suchconfiguration applies to all configurations of the subject technology. Adisclosure relating to a configuration may apply to all configurations,or one or more configurations. A phrase such as a configuration mayrefer to one or more configurations and vice versa. The word “exemplary”is used herein to mean “serving as an example or illustration.” Anyaspect or design described herein as “exemplary” is not necessarily tobe construed as preferred or advantageous over other aspects or designs.

Moreover, claim language reciting “at least one of” a set indicates theone member of the set or multiple members of the set satisfy the claim.For example, claim language reciting “at least one of A, B, and C” or“at least one of A, B, or C” means A alone, B alone, C alone, A and Btogether, A and C together, B and C together, or A, B, and C together.

1. A flying vehicle comprising: a processor; a projectile module; and acomputer-readable storage medium storing instructions which, whenexecuted by the processor, cause the processor to perform operationscomprising: applying a projectile model which generates a determinationwhich indicates whether, if fired from the projectile module, aprojectile will engage with a target device; and when the determinationindicates that the projectile will hit the targeted device, firing theprojectile at the targeted device.
 2. The flying vehicle of claim 1,wherein the projectile model takes into account one or more of a windmodeling in an area around the flying vehicle and a projected movementof the target device based on an identification of the target device. 3.The flying vehicle of claim 2, wherein the wind model is based on aninference of wind due to a tilt of the flying vehicle.
 4. The flyingvehicle of claim 1, wherein the projective module is removable from theflying vehicle.
 5. The flying vehicle of claim 2, wherein the wind modelconsiders one or more of: (1) how the projectile travels through air inwhich the air has a particular air density, (2) how the projectiletravels through the air at a projectile deployment velocity, (3) a dragon the projectile as it travels through the air and (4) a drag onweights attached to corners of the projectile.
 6. The flying vehicle ofclaim 1, wherein the projectile comprises one or more of a net, astreamer, a pellet, a bean bag, a weighted net having a weight attachedto each corner, or an explosive.
 7. The flying vehicle of claim 1,wherein the projectile module comprises one or more characteristicscomprising: (1) being attached to the flying vehicle in a fixedposition, (2) having a protective cover that is broken upon deployingthe projectile, (3) containing two or more projectiles, and (4) havingcontainers that store weights attached to the projectile.
 8. The flyingvehicle of claim 1, wherein the projectile module is attached to theflying vehicle and comprises an adjustment component that enables theprojectile module to change its orientation independent of a position ofthe flying.
 9. The flying vehicle of claim 1, wherein a control moduleadjusts an orientation of the projectile module.
 10. The flying vehicleof claim 1, wherein the projectile model further considers one or moreof a flying vehicle position, a flying vehicle pitch, a flying vehicleyaw, a flying vehicle velocity, a target device manufacturedspecification, a target device current position, a target devicevelocity, a geographically defined safe area, known flying capabilitiesof the target device and a wind velocity.
 11. The flying vehicle ofclaim 10, wherein the projectile model further considers two or more ofthe flying vehicle position, the flying vehicle pitch, the flyingvehicle yaw, the flying vehicle velocity, the target device manufacturedspecification, the target device current position, the target devicevelocity, the geographically defined safe area, known flyingcapabilities of the target device and the wind velocity.
 12. The flyingvehicle of claim 1, wherein applying the projectile model is performedbased on an orientation of the flying vehicle.
 13. The flying vehicle ofclaim 12, wherein the computer-readable storage medium stores additionalinstructions which, when executed by the processor, cause the processorto perform operations further comprising: applying the projectile modelto generate a new orientation of the flying vehicle.
 14. The flyingvehicle of claim 13, wherein the computer-readable storage medium storesadditional instructions which, when executed by the processor, cause theprocessor to perform operations further comprising: adjusting theorientation of the flying vehicle to the new orientation of the flyingvehicle before firing the projectile from the projectile module.
 15. Theflying vehicle of claim 12, wherein the computer-readable storage mediumstores additional instructions which, when executed by the processor,cause the processor to perform operations further comprising: reapplyingthe projectile model after adjusting the orientation of the flyingvehicle.
 16. A projectile module, the projectile module removablyattachable to a flying vehicle, the projectile module comprising: aprojectile; a receiving structure used for storing the projectile; andan attachment structure for attaching the projectile module to theflying vehicle, wherein, when attached to the flying vehicle, theprojectile is fired upon a control system of the flying vehicle applyinga projectile model which generates a determination which indicateswhether, if fired from the projectile module, the projectile will engagewith a target device.
 17. The projectile module of claim 16, wherein theprojectile module further comprises protective cover over the projectilethat is broken open upon deploying the projectile.
 18. The projectilemodule of claim 16, wherein the projectile comprises one or more of anet, a streamer, a pellet, a bean bag, a weighted net having a weightattached to each corner, or an explosive.
 19. A projectile for beingconfigured within a projectile module that is removably attachable to aflying vehicle module, the projectile comprising: a net configured to beplaced within a first receiving cavity of the projectile module; a firstweight attached to a first portion of the net, the first weightconfigured to be placed within a second receiving cavity of theprojectile module; and a second weight attached to a second portion ofthe net, the second weight configured to be placed within a thirdreceiving cavity of the projectile module, wherein, upon a firing actionfrom the flying vehicle when the projectile module is attached to theflying vehicle, the projectile is fired from the projectile module. 20.The projectile of claim 19, further comprising: a third weight attachedto a third portion of the net, the third weight configured to be placedwithin a fourth receiving cavity of the projectile module; and a fourthweight attached to a fourth portion of the net, the fourth weightconfigured to be placed within a fifth receiving cavity of theprojectile module.